Merge pull request #41 from dbadb/master

Integrate SpartronicsLib with this year's project.

build.gradle

@@ -1,74 +1,116 @@
-plugins {
-    id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.1.2"
-}
-
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
-
-def ROBOT_MAIN_CLASS = "com.spartronics4915.frc2020.Main"
-
-// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project EmbeddedTools.
-deploy {
-    targets {
-        roboRIO("roborio") {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = frc.getTeamNumber()
-        }
-    }
-    artifacts {
-        frcJavaArtifact('frcJava') {
-            targets << "roborio"
-            // Debug can be overridden by command line, for use with VSCode
-            debug = frc.getDebugOrDefault(false)
-        }
-        // Built in artifact to deploy arbitrary files to the roboRIO.
-        fileTreeArtifact('frcStaticFileDeploy') {
-            // The directory below is the local directory to deploy
-            files = fileTree(dir: 'src/main/deploy')
-            // Deploy to RoboRIO target, into /home/lvuser/deploy
-            targets << "roborio"
-            directory = '/home/lvuser/deploy'
-        }
-    }
-}
-
-repositories {
-    mavenCentral()
-    maven { url 'https://jitpack.io' }
-}
-
-// Set this to true to enable desktop support.
-def includeDesktopSupport = true
-
-// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-// Also defines JUnit 4.
-dependencies {
-    implementation wpi.deps.wpilib()
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
-
-    implementation wpi.deps.vendor.java()
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
-
-    implementation "com.github.Spartronics4915:SpartronicsLib:master-SNAPSHOT"
-
-    testImplementation 'junit:junit:4.12'
-
-    // Enable simulation gui support. Must check the box in vscode to enable support
-    // upon debugging
-    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
-}
-
-// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
-// in order to make them all available at runtime. Also adding the manifest so WPILib
-// knows where to look for our Robot Class.
-jar {
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-}
+import java.text.SimpleDateFormat;
+import java.io.ByteArrayOutputStream;
+
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2020.2.2"
+    id "maven"
+    id "maven-publish"
+}
+
+sourceCompatibility = JavaVersion.VERSION_11
+targetCompatibility = JavaVersion.VERSION_11
+
+def ROBOT_MAIN_CLASS = "com.spartronics4915.frc2020.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project EmbeddedTools.
+deploy {
+    targets {
+        roboRIO("roborio") {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = frc.getTeamNumber()
+            if(!project.hasProperty("discover"))
+                addresses = ["10.49.15.2"]
+        }
+    }
+    artifacts {
+        frcJavaArtifact('frcJava') {
+            targets << "roborio"
+            // Debug can be overridden by command line, for use with VSCode
+            debug = frc.getDebugOrDefault(false)
+        }
+        // Built in artifact to deploy arbitrary files to the roboRIO.
+        fileTreeArtifact('frcStaticFileDeploy') {
+            // The directory below is the local directory to deploy
+            files = fileTree(dir: 'src/main/deploy')
+            // Deploy to RoboRIO target, into /home/lvuser/deploy
+            targets << "roborio"
+            directory = '/home/lvuser/deploy'
+        }
+    }
+}
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true 
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
+dependencies {
+    implementation wpi.deps.wpilib()
+    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+
+    implementation wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    // implementation "com.github.Spartronics4915:SpartronicsLib:master-SNAPSHOT"
+
+    implementation("gov.nist.math:jama:1.0.3")
+    implementation("org.ejml:ejml-simple:0.38")
+    implementation("org.apache.commons:commons-math3:3.6.1")
+    implementation("com.fazecast:jSerialComm:2.4.1")
+
+    testImplementation("org.knowm.xchart:xchart:3.2.2")
+    testImplementation("org.junit.jupiter:junit-jupiter-api:5.3.2")
+    // testImplementation 'junit:junit:4.12'
+    testRuntime("org.junit.jupiter:junit-jupiter-engine:5.3.2")
+
+    // Enable simulation gui support. Must check the box in vscode to enable support
+    // upon debugging
+    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
+}
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    manifest {
+        String user = System.getProperty("user.name");
+        SimpleDateFormat fmt = new SimpleDateFormat("MMMMM dd, hh:mm a");
+        ByteArrayOutputStream gitinfo = new ByteArrayOutputStream();
+        exec {
+            ignoreExitValue true
+            commandLine 'git', 'describe', "--tags", "--dirty"
+            standardOutput = gitinfo
+        }
+        attributes (
+            "Built-By": user,
+            "Built-At": fmt.format(new Date()),
+            "Code-Version": gitinfo.toString().trim()
+        )
+    }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)    
+    // we could exclude source by subdir (see 2019-Deepspace/build.gradle)
+}
+
+/*
+test {
+    useJUnitPlatform {
+        // Some tests only work if you have the right stuff plugged in
+        // Pass -PallTests if you want tests with the excluded tags
+        if (!project.hasProperty("allTests")) {
+            excludeTags "hardwareDependant"
+        }
+    }
+    testLogging {
+        events "PASSED", "SKIPPED", "FAILED"
+        exceptionFormat "full"
+    }
+}
+*/

src/main/java/com/spartronics4915/lib/hardware/motors/SensorModel.java

@@ -0,0 +1,34 @@
+package com.spartronics4915.lib.hardware.motors;
+
+public class SensorModel {
+    private final double mToMetersMultiplier;
+
+    /**
+     * This is a convenience constructor for sensors connected to a wheel. Use the
+     * more direct constructor if your sensor is not connected to a wheel.
+     * 
+     * @param wheelDiameterMeters      The diameter of your wheel in meters.
+     * @param nativeUnitsPerRevolution The number of meters per wheel revolution.
+     */
+    public SensorModel(double wheelDiameterMeters, double nativeUnitsPerRevolution) {
+        mToMetersMultiplier = (1 / nativeUnitsPerRevolution) * (wheelDiameterMeters * Math.PI);
+    }
+
+    /**
+     * @param nativeUnitsToMetersMultiplier A number that, when multiplied with some
+     *                                      amount of meters, converts to meters.
+     *                                      This factor will also be used to convert
+     *                                      to related units, like meters/sec.
+     */
+    public SensorModel(double nativeUnitsToMetersMultiplier) {
+        mToMetersMultiplier = nativeUnitsToMetersMultiplier;
+    }
+
+    public double toMeters(double nativeUnits) {
+        return nativeUnits * mToMetersMultiplier;
+    }
+
+    public double toNativeUnits(double meters) {
+        return meters / mToMetersMultiplier;
+    }
+}

src/main/java/com/spartronics4915/lib/hardware/motors/SpartronicsEncoder.java

@@ -0,0 +1,41 @@
+package com.spartronics4915.lib.hardware.motors;
+
+import com.spartronics4915.lib.util.Logger;
+
+public interface SpartronicsEncoder {
+
+    public final SpartronicsEncoder kDisconnectedEncoder = new SpartronicsEncoder() {
+
+        @Override
+        public void setPhase(boolean isReversed) {
+            Logger.error("Couldn't set the phase of a disconnected encoder");
+        }
+
+        @Override
+        public double getVelocity() {
+            return 0;
+        }
+
+        @Override
+        public double getPosition() {
+            return 0;
+        }
+    };
+
+    /**
+     * @return Velocity in meters/second.
+     */
+    double getVelocity();
+
+    /**
+     * @return Position in meters.
+     */
+    double getPosition();
+
+    /**
+     * Sets the "direction" (phase) of this encoder.
+     * 
+     * @param isReversed If true, the sensor's output is reversed.
+     */
+    void setPhase(boolean isReversed);
+}